US4569230A - Self-propelled vehicle - Google Patents
Self-propelled vehicle Download PDFInfo
- Publication number
- US4569230A US4569230A US06/512,561 US51256183A US4569230A US 4569230 A US4569230 A US 4569230A US 51256183 A US51256183 A US 51256183A US 4569230 A US4569230 A US 4569230A
- Authority
- US
- United States
- Prior art keywords
- vehicle
- longitudinal
- arms
- transverse
- latch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
- G21C17/013—Inspection vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Definitions
- the present invention relates to a self-propelled vehicle, which can in particular be used for inspecting the walls of nuclear reactor vessels.
- the vessels are constituted by a double metal wall, which must be regularly inspected in order to detect any possible faults in the metal, particularly at the welds.
- the object of the present invention is to eliminate these disadvantages by proposing a lightweight vehicle, having a good stability and which eliminates the risk of marking the walls.
- this comprises a first and a second set of two driving and guide wheels connected to the central support structure by connecting means, the assembly constituted by the wheels and the connecting means being symmetrical with respect to the longitudinal plane and a transverse plane, the latter being perpendicular to one another and perpendicular to said walls.
- the connecting means between the two wheels of the first set and the central structure comprise two longitudinal arms, whereof one end is joined to the central support structure, each wheel being mounted at the other end of each arm.
- the vehicle comprises means enabling the two longitudinal arms to move in a longitudinal plane whilst remaining symmetrical to the transverse plane. It can also have elastic means acting on the longitudinal arms, in order to apply the corresponding wheels to one of the two walls.
- the latter comprises opening-out means able to act on the longitudinal arms in order to displace them between a working position and a retracted or rest position.
- the opening-out means of the longitudinal arms comprise an opening-out jack whilst the elastic means forming part of the opening-out means comprise a suspension jack arranged so as to transmit the movements of the opening-out jack to the longitudinal arms.
- the connecting means between each wheel of the second set and the central support structure comprise a transverse arm, whereof one end is joined to the central support structure, the wheel being mounted at the other end of the arm.
- the vehicle can also have means making it possible to displace the transverse arms between a working position and a bent-up or rest position.
- the vehicle according to the invention has locking means making it possible to lock the longitudinal and transverse arms in the working position. It is also equipped with means which, in an emergency, can unlock the longitudinal and transverse arms, said unlocking means comprising a cable able to free the locking means, if it is subject to pulling or traction action exceeding a predetermined threshold.
- the opening-out means of the longitudinal arms are arranged so as to also act on the transverse arms, in order that the latter can be brought into the working position at the same time as the longitudinal arms and it comprises means for exciting the opening-out jack and the suspension jacks, said excitation means being arranged in such a way that the excitation of the suspension jack is only possible when the longitudinal and transverse arms are locked in the working position.
- each wheel of the vehicle is actuated by an individual drive motor and means for disengaging each motor are provided.
- the invention also relates to a disengageable drive device, which can be mounted on such a vehicle.
- this drive device which is of the type having a coupling member between a leading part and a led part, the coupling member comprises a portion which can melt under the action of heat.
- this vehicle which can be used inter alia for the ultrasonic testing or inspection of metal walls is equipped with a mini-vessel filled with a liquid ensuring the acoustic coupling between the ultrasonic transducers and the wall to be inspected.
- a mini-vessel filled with a liquid ensuring the acoustic coupling between the ultrasonic transducers and the wall to be inspected.
- the vessel is supplied by a reservoir having a weighted tube mobile within said reservoir in order to take up the liquid from the lowest part thereof.
- the invention also relates to a liquid reservoir, which can be mounted on such a vehicle.
- This reservoir is characterized by the presence of a mobile tube, whose end used for sucking up the liquid is weighted, so that it can always remove the liquid from the lowest part of the reservoir.
- FIG. 1 is a diagrammatic sectional view of a double-walled reactor vessel, the vehicle according to the invention having to move between the two walls.
- FIG. 2 is a diagrammatic perspective view of the vehicle according to the invention.
- FIG. 2a is a diagrammatic view illustrating a special fixture of one of the cameras equipping the vehicle of FIG. 2.
- FIG. 3 is a diagrammatic elevation and part sectional view of the vehicle placed between two walls.
- FIGS. 4a and 4b are diagrammatic elevations of the opening-out means of the longitudinal arms, respectively in the retracted position and in the working position.
- FIG. 5 is a diagrammatic elevation illustrating the action of these opening-out means on the transverse arms, as well as on the mini-vessel containing the inspection means coupling liquid.
- FIG. 6 is a plan view showing how it is possible for two transverse arms to move between the working position and the bent-up position.
- FIG. 7 is a diagrammatic elevation and part sectional view of the unlocking device and the opening-out means.
- FIG. 8 is a diagrammatic sectional view of the means for driving a wheel of the vehicle in a diametral plane of the wheel.
- FIG. 9 is a diagrammatic elevation of the front part of the vehicle.
- FIG. lO a diagrammatic view showing the mini-vessel mounted on the vehicle associated with a coupling liquid reservoir.
- FIG. 1 shows a nuclear reactor vessel 1, sealed in its upper part by a concrete slab 2 and defined by a double wall constituted by an inner wall 4 and an outer wall 6.
- the latter are generally manufactured from welded metal parts, so that it is necessary to inspect their state, particularly at the welds, by inspection means, such as ultrasonics.
- the slab 2 contains a certain number of openings 8, which are sealed by plugs 10.
- plug 10 is removed and the vehicle according to the invention, represented diagrammatically at 12 in the drawing, is introduced into the opening 8. All the wires and ducts used for supplying the vehicle with power or information necessary for its operation are brought together in an umbilical cord 15.
- the weight of the umbilical cord is relatively high compared with that of the vehicle.
- the umbilical cord is wound round a winch 18, whilst a group of wires and ducts, represented diagrammatically by the broken line 16, connects it to a control and inspection device 14.
- FIG. 2 shows the complete vehicle 12 introduced into the space between walls 4 and 6 of the vessel through opening 8.
- This vehicle essentially comprises a central support structure 19, which is able to support a chassis 17 and to which are connected two pairs of two wheels, each wheel being both a guide wheel and a driving wheel.
- the first set consists of the two wheels 20 and 22, which can bear on wall 6 and are connected to the central structure 19 by longitudinal arms 21 and 23 respectively.
- the second set consists of wheels 24 and 26 bearing on the other wall 4 and connected to the central structure by transverse arms 25 and 27 respectively.
- the vehicle also carries a mini-vessel 28 containing the liquid for ensuring the acoustic coupling between the wall 4 to be inspected and the ultrasonic transducers carried by the vehicle, said mini-vessel being associated with a reservoir or tank 30 for the said liquid.
- the drawing shows that the mini-vessel 28 overhangs with respect to the central structure 19. The object of this arrangement is to make it possible to inspect the maximum possible surface portion of wall 4, even in areas made inaccessible due to the overall dimensions of the vehicle, when the longitudinal and transverse arms are opened-out into the working position.
- Mini-vessel 28 is fixed to the remainder of the vehicle by means, which will be described in greater detail hereinafter relative to FIG. 3.
- FIG. 2 shows the vehicle in the working position, in which arms 21 and 23 are raised, in order that wheels 20 and 22 bear against wall 6, whilst arms 25 and 27 are moved away in the transverse direction. In this position, the dimensions of the vehicle exceed those of opening 8.
- devices are provided which will be described hereinafter, which make it possible on the one hand to lower arms 21 and 23 in the direction of arrows F 1 , and on the other hand to bring the transverse arms 25 and 27 towards the centre of the vehicle in the direction of arrow F 2 .
- longitudinal arms 21, 23 are located in a plane perpendicular to walls 4, 6, called the "longitudinal plane” and remain in this plane, when they are brought towards the vehicle body.
- arms 21, 23 are rendered integral with one another in order that they remain completely symmetrical with respect to another plane, called the "transverse plane", which is perpendicular to the first, as well as to walls 4 and 6 and which contains the transverse arms when the latter are in the working position shown in the drawing.
- the opening-out means of the different arms which will be described hereinafter, are arranged in such a way that the latter are constantly symmetrical with respect to the longitudinal plane.
- the movements of the transverse arms are simultaneous, so that the assembly constituted by the two sets of wheels and their connecting arms remain constantly symmetrical with respect to the longitudinal plane and, when the vehicle is in the working position, with respect to the transverse plane.
- the dimensions of the transverse arms have been designed so that, in the opened-out position, the distance between wheels 24 and 26 exceeds the gap between the two walls. Thus, there is no risk of the vehicle turning round by pivoting about its longitudinal axis.
- the vehicle is equipped with two cameras.
- the first camera placed at the front is an inspection camera 31, equipped with a prism 33 which, in the case of FIG. 2, is disposed so as to permit the observation of the weld seam 7 of FIG. 2.
- FIG. 2a illustrates another arrangement in which the prism 33a is shaped in such a way that it permits the observation of the two walls simultaneously.
- the other camera is a navigation camera 35, which can pivot about an axis perpendicular to walls 4, 6 and which is used for controlling the displacements of the vehicle between the two walls.
- the umbilical cord 15 containing the power supply wires for the motors, the gas supply conduits for the jacks, the coupling liquid supply for the ultrasonic transducers, etc, as well as a pulling or traction cable or rope 80 used for unlocking the longitudinal and transverse arms in the case of an emergency and for bringing the vehicle to the outside.
- the operation of the unlocking system will be described hereinafter relative to FIG. 7.
- the opening-out means 32 mounted on the central structure 19 of the vehicle, simultaneously act on several groups of components. Firstly, they make it possible to raise the longitudinal arm 23 (arrow 29), in order to pass it from the inoperative position 23a (shown in mixed lines), to the working position 23 (shown in continuous lines). During this movement, arm 23 pivots about a spindle 34, fixed with respect to the vehicle, and as its end opposite to wheel 22 carries a toothed sector 36, which engages on an identical toothed sector 37 at the corresponding end of arm 21, it is clear that by acting on arm 23 only, it is simultaneously possible to manipulate arm 21.
- mini-vessel 28 This is also shown in continuous line form in its working position. It can be seen how it is connected to mini-vessel 28. The connection is ensured by a pantograph 39, whilst two springs 43, 43a ensure the placing of mini-vessel 28 against wall 4, when arm 21 bears against the other wall 6.
- mini-vessel 28 is connected to chassis 17 by an intermediate part 38, which rotates about a spindle 40 carried by the vehicle.
- a cable 41 connects part 38 to opening-out means 32, as will be described hereinafter relative to FIGS. 4 and 5.
- the opening-out means 32 also act on the transverse arms.
- the drawing shows arm 25 and wheel 24 in the bent-up or folded position (25a, 24a mixed lines) and in the working position (continuous lines).
- FIGS. 4a and 4b The construction of the opening-out means 32 is illustrated in FIGS. 4a and 4b.
- this assembly essentially comprises an opening-out jack 42 fixed to vehicle structure 19 and within which can slide a rod 44.
- the end of the latter opposite to the jack body actuates a joint 51, to which several parts are connected.
- rod 44 acts via a latch 46, whose function will be described hereinafter, on a connecting part 45, which moves around a spindle 47 fixed to the central structure 19.
- Part 45 on the one hand acts on a suspension jack 48 connected to arm 23, and on the other hand acts on a bar 50, which is able to control the movements of the transverse arms.
- FIG. 4a shows the assembly in the inoperative position.
- jack rod 44 When jack rod 44 is retracted, part 45 tilts up to the working position shown in FIG. 4b.
- Suspension jack 48 has moved arm 23 upwards and bar 50 has been moved to the left in the drawing.
- the assembly constituted by part 45 and jack 48 has overcome a staying point, which ensures the maintaining of arm 23 in the opened-out position.
- a certain force must be exerted with jack 42 in order to again overcome this staying point, when it is wished to bring arm 23 into the inoperative position.
- Jack 48 also plays a part in the suspension of the assembly, in order to engage wheels 20, 22, equipping arms 21, 23, with wall 6.
- a not shown gas distributor ensures the supply of jacks 42 and 48, but it is arranged in such a way that the supply of jack 48 only takes place when jack 42 is in the position of FIG. 4b.
- FIG. 5 summarizes the different functions of the opening-out means 32.
- rod 44 brings joint 51 into a position 51a and jack 48 moves arm 23 upwards and bar 50 assumes a position 50a.
- Cable 41 connects the end of bar 50 to an attachment point 53 to part 38.
- cable 41 is released and it is arm 21, via pantograph 39, which applies the mini-vessel 28 to vessel 4 (FIG. 3).
- bar 50 returns to the inoperative position, it makes cable 41 taut. The latter passes from position 41a to position 41, thus contributing to the raising of mini-vessel 28 by the rotation of part 38.
- Bar 50 also acts on the transverse arms 25 and 27, as is illustrated by the plan view of FIG. 6, which shows arm 25 in the working position and arm 27 in the bent-up position. It can be seen that arm 25 moves around a fixed spindle 54 and that its end opposite to wheel 24 is connected to bar 50 by means of a link 56, articulated to two spindles 58 and 60.
- bar 50 is moved in the direction of arrow F 3 , arm 25 pivots around spindle 54 and enters the position shown in the drawing, where it is stopped by a stop 52, whilst arm 27 is stopped by stop 55. If bar 50 is displaced in the opposite direction, the arm pivots in the opposite direction and enters the position symmetrical of that shown for arm 27.
- a chain 64 whereof a first end is fixed to latch 46, is wound around a rack wheel 66 and then onto a pinion 68, whilst its other end is fixed to the actual unlocking system 70.
- the latter has a locking bush or clip 72 fixed to the vehicle body and a mobile part, shown in broken lines in the normal position and in continuous lines to the right of the drawing after unlocklng.
- the mobile part 74 comprises a connecting part 76, which moves around a spindle 77 carried by mobile part 74, and whereof one end has a member 78 which, in the normal position, is locked by locking bush 72, thus preventing any displacement of part 74.
- Pulling on cable 80 makes it possible to free member 78 by the rotation of part 76, but this movement is impeded by a part 82 maintained in recess 84 by a stack of elastic washers 86. Thus, the movement only takes place if a pulling or traction action exceeding a certain threshold is exerted on the cable and which prevents untimely unlocking.
- a special device which grips the chassis in order to prevent an accidental turning round or over of the vehicle.
- the latter can be extracted from the space between the two walls through opening 8, by pulling on cable 80.
- the necessary interventions or repairs are carried out and when the vehicle is put back into service, pinion 68 is brought into its normal position and pin 62 is placed back in slot 63.
- Another safety device has been provided for the drive motors associated with each wheel, which permits the disengagement thereof in the case of a breakdown.
- Such a device is illustrated in the sectional view of FIG. 8, where it is possible to see wheel 24 driven by a motor 90 acting on a spur ring 92, integral with wheel 24, via a pinion 94.
- a second motor 96 called the rotation motor, is integral with support 97 of wheel 24 and drives a pinion 99, which meshes with a rack wheel 99, integral with transverse arm 25.
- motor 96 By acting on motor 96, it is possible to orient the plane of wheel 24 relative to arm 25.
- Motor 90 rotates about a spindle 91 and is moved in the direction of arrow 93 by a spring 95, which acts on an arm 101 integral with motor 90.
- end 102 of arm 101 abuts against the edge 104 of a cylindrical part 106, which moves along another cylindrical part 108, positioned within part 106 and coaxially with respect to the latter.
- this movement is prevented by the presence of a fusible alloy 110, which is solid at the normal operating temperature and abuts against a shoulder 107 of part 108.
- the fusible alloy 110 can be a tin or lead alloy, but any other random alloy can be used, provided it melts easily under the action of heat and that it is solid and relatively free from flow or creep at the operating temperature.
- Another special feature of the invention relates to the means for supplying coupling liquid to the mini-vessel supporting the ultrasonic transducers, said arrangement being shown in FIGS. 9 and 10.
- FIG. 9 is an elevation of the front part of the vehicle, showing the latter moving along a weld seam 5 on wall 4. It is possible to see the front frame of the chassis, as well as wheels 24, 26 bearing on wall 4, whilst wheels 20, 22 bear on wall 6. ln the case of FIG. 9, the vehicle moves along the weld seam 5, which is parallel to its longitudinal plane and perpendicular to the plane of the drawing, the ultrasonic transducers performing a reciprocating movement enabling them to inspect the area of the wall in the vicinity of the weld 5. However, other movements are possible. On again referring to FIG. 2, it can be seen that the mini-vessel 28 is positioned above a weld seam 7, which is perpendicular to the longitudinal plane of the vehicle.
- the motors for rotating the wheels are actuated in such a way as to pivot them by 90° and the vehicle performs a crablike movement along seam 7.
- the ultrasonic transducers are fitted in such a way that they can carry out a scan perpendicular to seam 7.
- FIG. 9 shows that the mini-vessel 28 is equipped with a lipped joint 114 defining a space 115 in which is maintained the coupling liquid. It is supplied by a reservoir 116 by means of a pipe 118 and a pump 120.
- FIG. 10 where it is possible to see pump 120 connected to the mini-vessel 28 by a supply pipe 118 and a return pipe 119.
- the reservoir 116 is essentially cylindrical and its axis 117 is contained in the plane of the drawing.
- Pump 120 is connected by a hose 122 to the central part of a tube 124 located within reservoir 116.
- the length of tube 124 is essentially the same as the diameter of reservoir 116 and it is mounted so that it can pivot both about axis 117 and a second axis perpendicular to the latter.
- One of the ends of tube 124 is provided with a counterweight 126.
- the end of tube 124 carrying counterweight 126 is always in the lowest part of the reservoir and it is possible to suck up the liquid no matter what the vehicle position and even if the quantity of liquid is small.
- the reservoir 116 has a certain number of devices necessary for its operation (e.g. venting system), which are known and are not shown in the drawing for reasons of clarity.
- the vehicle according to the invention has numerous advantages, the main advantage being its lightness due to the central support structure, which takes up the bearing stresses of the wheels on the walls. It also has a good stability, due to the two sets of wheels placed in perpendicular planes and there is no marking of the walls, because all the wheels have flexible tyres. Finally, safety is increased for several reasons. Firstly, the dimensions of the vehicle in the opened-out position are such that no turning-over is possible between the walls. Furthermore, even if an opening-out jack 42 is no longer supplied, the longitudinal arms remain out, due to the existence of the staying point referred to hereinbefore. Finally, in the case of an operating incident, the arms can be brought into the inoperative position as a result of the unlocking system and it is possible to extract the vehicle by pulling on a cable.
- the invention is not limited to the embodiment described and in fact numerous variants are possible without passing beyond the scope of the invention.
- the four wheels are both guiding and driving wheels, variants can be conceived in which certain of these walls will not be driving or will not be guiding.
- this vehicle is not limited to the inspection of double-walled nuclear reactor vessels.
- such a vehicle can be used in all applications, where it is necessary to introduce random equipment into a space between two substantially parallel walls.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR8212380A FR2530214A1 (fr) | 1982-07-15 | 1982-07-15 | Vehicule autopropulse a bras articules, reservoir et dispositif d'entrainement debrayable pouvant etre montes sur ledit vehicule |
FR8212380 | 1982-07-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
US4569230A true US4569230A (en) | 1986-02-11 |
Family
ID=9275992
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US06/512,561 Expired - Fee Related US4569230A (en) | 1982-07-15 | 1983-07-11 | Self-propelled vehicle |
Country Status (5)
Country | Link |
---|---|
US (1) | US4569230A (fr) |
EP (1) | EP0099819B1 (fr) |
JP (1) | JPS5932560A (fr) |
DE (1) | DE3369024D1 (fr) |
FR (1) | FR2530214A1 (fr) |
Cited By (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4661309A (en) * | 1984-02-13 | 1987-04-28 | Combustion Engineering, Inc. | Equipment transporter for nuclear steam generator |
US4757258A (en) * | 1985-11-27 | 1988-07-12 | Westinghouse Electric Corp. | Probe carrier system for inspecting boiler tubes |
US4757785A (en) * | 1987-02-19 | 1988-07-19 | The Babcock & Wilcox Company | Steam generator sludge removal apparatus |
US4777011A (en) * | 1985-11-29 | 1988-10-11 | Brown, Boveri Reaktor Gmbh | Method and device for checking the dimensions of a fuel assembly for nuclear reactors |
US5265129A (en) * | 1992-04-08 | 1993-11-23 | R. Brooks Associates, Inc. | Support plate inspection device |
US5305356A (en) * | 1992-05-14 | 1994-04-19 | Brooks Support Systems, Inc. | Inspection device |
US5392527A (en) * | 1993-07-12 | 1995-02-28 | Wheelabrator Engineered Systems, Inc. | Annulus measuring device |
US5650579A (en) * | 1995-12-05 | 1997-07-22 | General Electric Company | Miniature air gap inspection crawler |
US5652387A (en) * | 1994-03-17 | 1997-07-29 | Framatome | Device for non-destructive ultrasonic testing of a cylindrical wall accessible through a narrow annular passage |
US5661242A (en) * | 1994-12-21 | 1997-08-26 | Abb Reaktor Gmbh | Process and apparatus for the ultrasonic testing of a component accessible only through a gap |
US20030188589A1 (en) * | 2002-04-05 | 2003-10-09 | Harthorn Larry K. | Internal riser inspection device |
EP1482518A2 (fr) * | 2003-05-21 | 2004-12-01 | Framatome ANP GmbH | Dispositif pour renflouage des corps étrangers présents sous l'eau |
US20050056105A1 (en) * | 2003-06-02 | 2005-03-17 | Delacroix Bradley S. | Method and apparatus for inspection of reactor head components |
US20060009876A1 (en) * | 2004-06-09 | 2006-01-12 | Mcneil Dean | Guidance system for a robot |
EP1698893A1 (fr) * | 2005-02-25 | 2006-09-06 | BAM Bundesanstalt für Materialforschung und -prüfung | Véhicule de positionnement pour positionner une sonde de mesure |
US7201055B1 (en) * | 2005-10-10 | 2007-04-10 | General Electric Company | Ultrasonic miniature air gap inspection crawler |
US20080148856A1 (en) * | 2006-12-22 | 2008-06-26 | The Boeing Company | Ultrasonic probe for hollow fuse pin inspection |
US20110030478A1 (en) * | 2009-08-06 | 2011-02-10 | Korea Plant Service & Engineering Co., Ltd. | Inspecting device including detachable probe |
US20110159074A1 (en) * | 2009-12-30 | 2011-06-30 | Raphael Warren | Wipe Article Comprising Lotion Composition Comprising Omega-6 Fatty Acid And Method Of Improving Skin Barrier Function |
US20120183114A1 (en) * | 2009-05-20 | 2012-07-19 | Areva Np Gmbh | Method and apparatus for testing an annular weld on a main coolant line connected to a reactor pressure vessel of a nuclear power plant |
US20130243145A1 (en) * | 2012-03-15 | 2013-09-19 | Ihi Southwest Technologies, Inc. | Nozzle Inspection Tool for Nuclear Power Plants |
US20160299031A1 (en) * | 2014-11-03 | 2016-10-13 | Sonasearch, Inc. | Integrity testing of storage tank structure using robotic ultrasound |
JP2017504799A (ja) * | 2014-01-31 | 2017-02-09 | ウエスチングハウス・エレクトリック・カンパニー・エルエルシー | 配管および配管取付け溶接部の遠隔検査装置および方法 |
US20190225287A1 (en) * | 2016-10-17 | 2019-07-25 | China University Of Mining And Technology | Device and method for periodically inspecting rigid guide |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3524857A1 (de) * | 1985-07-12 | 1987-01-22 | Gutehoffnungshuette Man | Einrichtung zur pruefung schwer zugaenglicher oberflaechen |
JP2549859B2 (ja) * | 1987-03-31 | 1996-10-30 | 小林 隆 | バレル蓋の自動脱着装置 |
EP0365921B1 (fr) * | 1988-10-25 | 1992-03-11 | HEINRICH SCHLICK GmbH | Dispositif passant à travers des canaux fermés |
FR2662989A1 (fr) * | 1990-06-11 | 1991-12-13 | Esstin | Vehicule auto propulse et articule a verins telescopiques pour l'inspection de tuyauteries. |
JP4692667B2 (ja) * | 2004-03-15 | 2011-06-01 | 株式会社日立製作所 | 板厚の測定方法及び板厚検査装置 |
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FR2443368A1 (fr) * | 1978-12-06 | 1980-07-04 | Novatome | Vehicule de deplacement d'un outil ou d'un moyen de controle en appui sur une seule surface d'orientation quelconque |
JPS5838346B2 (ja) * | 1980-12-25 | 1983-08-22 | 川崎製鉄株式会社 | 鋼管内面走行装置 |
-
1982
- 1982-07-15 FR FR8212380A patent/FR2530214A1/fr active Granted
-
1983
- 1983-07-11 US US06/512,561 patent/US4569230A/en not_active Expired - Fee Related
- 1983-07-12 DE DE8383401439T patent/DE3369024D1/de not_active Expired
- 1983-07-12 EP EP83401439A patent/EP0099819B1/fr not_active Expired
- 1983-07-15 JP JP58128055A patent/JPS5932560A/ja active Granted
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FR12655E (fr) * | 1909-06-04 | 1910-10-26 | Brehier Et Cie Soc | Procédé de fabrication de tringles de pneumatiques de jantes ou autres cercles métalliques quelconques |
FR2267612A1 (fr) * | 1974-04-10 | 1975-11-07 | Commissariat Energie Atomique | |
US3999428A (en) * | 1974-10-29 | 1976-12-28 | Battelle Memorial Institute | Process and apparatus for continuously measuring the value of the tension in a filament being displaced from one point to another |
DE2640055A1 (de) * | 1976-09-06 | 1978-03-09 | Kraftwerk Union Ag | Rohrkruemmermanipulator, insbesondere zur ultraschallpruefung bei kernreaktoranlagen |
US4131018A (en) * | 1976-09-06 | 1978-12-26 | Kraftwerk Union Aktiengesellschaft | Elbow or bent tube manipulator, especially for ultrasonic testing in nuclear reactor installation |
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US4218923A (en) * | 1979-02-07 | 1980-08-26 | Triad & Associates, Inc. | System for monitoring the condition of a pipeline |
Cited By (36)
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US4661309A (en) * | 1984-02-13 | 1987-04-28 | Combustion Engineering, Inc. | Equipment transporter for nuclear steam generator |
US4757258A (en) * | 1985-11-27 | 1988-07-12 | Westinghouse Electric Corp. | Probe carrier system for inspecting boiler tubes |
US4777011A (en) * | 1985-11-29 | 1988-10-11 | Brown, Boveri Reaktor Gmbh | Method and device for checking the dimensions of a fuel assembly for nuclear reactors |
US4757785A (en) * | 1987-02-19 | 1988-07-19 | The Babcock & Wilcox Company | Steam generator sludge removal apparatus |
US5265129A (en) * | 1992-04-08 | 1993-11-23 | R. Brooks Associates, Inc. | Support plate inspection device |
US5305356A (en) * | 1992-05-14 | 1994-04-19 | Brooks Support Systems, Inc. | Inspection device |
US5392527A (en) * | 1993-07-12 | 1995-02-28 | Wheelabrator Engineered Systems, Inc. | Annulus measuring device |
US5652387A (en) * | 1994-03-17 | 1997-07-29 | Framatome | Device for non-destructive ultrasonic testing of a cylindrical wall accessible through a narrow annular passage |
US5661242A (en) * | 1994-12-21 | 1997-08-26 | Abb Reaktor Gmbh | Process and apparatus for the ultrasonic testing of a component accessible only through a gap |
US5650579A (en) * | 1995-12-05 | 1997-07-22 | General Electric Company | Miniature air gap inspection crawler |
US20030188589A1 (en) * | 2002-04-05 | 2003-10-09 | Harthorn Larry K. | Internal riser inspection device |
US6904818B2 (en) * | 2002-04-05 | 2005-06-14 | Vetco Gray Inc. | Internal riser inspection device |
EP1482518A2 (fr) * | 2003-05-21 | 2004-12-01 | Framatome ANP GmbH | Dispositif pour renflouage des corps étrangers présents sous l'eau |
EP1482518A3 (fr) * | 2003-05-21 | 2005-01-19 | Framatome ANP GmbH | Dispositif pour renflouage des corps étrangers présents sous l'eau |
US20050056105A1 (en) * | 2003-06-02 | 2005-03-17 | Delacroix Bradley S. | Method and apparatus for inspection of reactor head components |
US20060009876A1 (en) * | 2004-06-09 | 2006-01-12 | Mcneil Dean | Guidance system for a robot |
EP1698893A1 (fr) * | 2005-02-25 | 2006-09-06 | BAM Bundesanstalt für Materialforschung und -prüfung | Véhicule de positionnement pour positionner une sonde de mesure |
US20070089544A1 (en) * | 2005-10-10 | 2007-04-26 | General Electric Company | Ultrasonic miniature air gap inspection crawler |
US7201055B1 (en) * | 2005-10-10 | 2007-04-10 | General Electric Company | Ultrasonic miniature air gap inspection crawler |
US20080148856A1 (en) * | 2006-12-22 | 2008-06-26 | The Boeing Company | Ultrasonic probe for hollow fuse pin inspection |
US7669477B2 (en) * | 2006-12-22 | 2010-03-02 | The Boeing Company | Ultrasonic probe for hollow fuse pin inspection |
US20120183114A1 (en) * | 2009-05-20 | 2012-07-19 | Areva Np Gmbh | Method and apparatus for testing an annular weld on a main coolant line connected to a reactor pressure vessel of a nuclear power plant |
US20110030478A1 (en) * | 2009-08-06 | 2011-02-10 | Korea Plant Service & Engineering Co., Ltd. | Inspecting device including detachable probe |
US8424385B2 (en) * | 2009-08-06 | 2013-04-23 | Korea Plant Service & Engineering Co., Ltd | Inspecting device including detachable probe |
US20110159074A1 (en) * | 2009-12-30 | 2011-06-30 | Raphael Warren | Wipe Article Comprising Lotion Composition Comprising Omega-6 Fatty Acid And Method Of Improving Skin Barrier Function |
US9064608B2 (en) * | 2012-03-15 | 2015-06-23 | Ihi Southwest Technologies | Nozzle inspection tool for nuclear power plants |
US20130243145A1 (en) * | 2012-03-15 | 2013-09-19 | Ihi Southwest Technologies, Inc. | Nozzle Inspection Tool for Nuclear Power Plants |
JP2017504799A (ja) * | 2014-01-31 | 2017-02-09 | ウエスチングハウス・エレクトリック・カンパニー・エルエルシー | 配管および配管取付け溶接部の遠隔検査装置および方法 |
US10593435B2 (en) | 2014-01-31 | 2020-03-17 | Westinghouse Electric Company Llc | Apparatus and method to remotely inspect piping and piping attachment welds |
US11205522B2 (en) | 2014-01-31 | 2021-12-21 | Westinghouse Electric Company Llc | Apparatus and method to remotely inspect piping and piping attachment welds |
US20160299031A1 (en) * | 2014-11-03 | 2016-10-13 | Sonasearch, Inc. | Integrity testing of storage tank structure using robotic ultrasound |
US10012561B2 (en) * | 2014-11-03 | 2018-07-03 | Sonasearch, Inc. | Integrity testing of storage tank structure using robotic ultrasound |
US10488294B2 (en) | 2014-11-03 | 2019-11-26 | Sonasearch, Inc. | Integrity testing of storage tank structure using robotic ultrasound |
US11719592B2 (en) | 2014-11-03 | 2023-08-08 | Sonasearch, Inc. | Integrity testing of storage tank structure using robotic ultrasound |
US20190225287A1 (en) * | 2016-10-17 | 2019-07-25 | China University Of Mining And Technology | Device and method for periodically inspecting rigid guide |
US10501132B2 (en) * | 2016-10-17 | 2019-12-10 | China University Of Mining And Technology | Inspection apparatus and method for patrol-inspection of rigid cage channel |
Also Published As
Publication number | Publication date |
---|---|
FR2530214B1 (fr) | 1984-12-21 |
EP0099819B1 (fr) | 1987-01-07 |
EP0099819A1 (fr) | 1984-02-01 |
JPS5932560A (ja) | 1984-02-22 |
JPH0139389B2 (fr) | 1989-08-21 |
FR2530214A1 (fr) | 1984-01-20 |
DE3369024D1 (en) | 1987-02-12 |
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